Configuration vector. More...

#include <Q.hpp>

Public Types
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	Base
	Eigen vector used as internal datastructure.

typedef double	value_type
	Value type.

Public Member Functions
	Q (size_t dim)
	A configuration of vector of length dim.

	Q (const Q &q)

	Q ()
	Default constructor. More...

	Q (const std::vector< double > &r)
	Construct a configuration vector from a std::vector expression. More...

template<typename... ARGS>
	Q (size_t n, ARGS... args)
	Creates a Q initialized with values from values. More...

template<typename... ARGS>
	Q (int n, ARGS... args)
	Creates a Q initialized with values from values. More...

template<typename... ARGS>
	Q (double arg0, ARGS... args)
	Creates a Q initialized with values from values. More...

	Q (const Base &q)
	Construct from Eigen base. More...

virtual	~Q ()
	Destructor.

size_t	size () const
	The dimension of the configuration vector.

bool	empty () const
	True if the configuration is of dimension zero.

const Base &	e () const
	Accessor for the internal Eigen vector state.

Base &	e ()
	Accessor for the internal Eigen vector state.

const Q	getSubPart (size_t start, size_t cnt) const
	Extracts a sub part (range) of this Q. More...

void	setSubPart (size_t index, const Q &part)
	Set subpart of vector. More...

double	norm2 () const
	Returns the Euclidean norm (2-norm) of the configuration. More...

double	norm1 () const
	Returns the Manhatten norm (1-norm) of the configuration. More...

double	normInf () const
	Returns the infinte norm ( \(\inf\)-norm) of the configuration. More...

const double &	operator() (size_t i) const
	Returns reference to vector element. More...

double &	operator() (size_t i)
	Returns reference to vector element. More...

const double &	operator[] (size_t i) const
	Returns reference to vector element. More...

double &	operator[] (size_t i)
	Returns reference to vector element. More...

const Q	operator/ (double s) const
	Scalar division.

const Q	operator* (double s) const
	Scalar multiplication.

const Q	operator- (const Q &b) const
	Vector subtraction.

const Q	operator+ (const Q &b) const
	Vector addition.

bool	operator== (const Q &q2) const
	Compares this and q2 for equality. More...

bool	operator!= (const Q &q2) const
	Inequality operator The inverse of operator==().

Q &	operator*= (double s)
	Scalar multiplication.

Q &	operator/= (double s)
	Scalar division.

Q &	operator+= (const Q &v)
	Vector addition.

Q &	operator-= (const Q &v)
	Vector subtraction.

Q	operator- () const
	Unary minus.

bool	operator< (const Q &q) const
	Compares whether this is less than q. More...

void	toStdVector (std::vector< double > &v) const
	Convert to a standard vector. More...

std::vector< double >	toStdVector () const
	Convert to a standard vector. More...

template<>
	Q (size_t n, double *values)
	Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds. More...

template<>
	Q (size_t n, const double *values)
	Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds. More...

template<>
	Q (int n, double *values)
	Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds. More...

template<>
	Q (int n, const double *values)
	Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds. More...

template<>
	Q (int n, double values)
	Creates a Q of length n and initialize all values in Q to value. More...

template<>
	Q (size_t n, double values)
	Creates a Q of length n and initialize all values in Q to value. More...

Static Public Member Functions
static Q	zero (std::size_t n)
	Returns Q of length n initialized with 0's.

Friends
const Q	operator* (double s, const Q &v)
	Scalar multiplication.

const Q	operator/ (double s, const Q &v)
	Scalar division.

Related Functions
(Note that these are not member functions.)
std::ostream &	operator<< (std::ostream &out, const Q &v)
	Streaming operator.

template<class T >
std::ostream &	operator<< (std::ostream &out, const Pose6D< T > &v)
	Streaming operator.

std::istream &	operator>> (std::istream &in, Q &q)
	Input streaming operator. More...

double	dot (const Q &a, const Q &b)
	The dot product (inner product) of a and b.

template<>
void	write (const rw::math::Q &sobject, rw::common::OutputArchive &oarchive, const std::string &id)

template<>
void	read (rw::math::Q &sobject, rw::common::InputArchive &iarchive, const std::string &id)

template<class Archive >
void	serialize (Archive &archive, rw::math::Q &q, const unsigned int version)
	Boost serialization. More...

template<class Archive >
void	save (Archive &archive, const rw::math::Q &q, const unsigned int version)
	Boost serialization. More...

template<class Archive >
void	load (Archive &archive, rw::math::Q &q, const unsigned int version)
	Boost serialization. More...

Detailed Description

Configuration vector.

Constructor & Destructor Documentation

◆ Q() [1/12]

Q ( )

inline

Default constructor.

The vector will be of dimension zero.

◆ Q() [2/12]

Q ( const std::vector< double > & r )

Construct a configuration vector from a std::vector expression.

Parameters

r	[in] An expression for a vector of doubles

◆ Q() [3/12]

Q	(	size_t	n,
		ARGS...	args
	)

inlineexplicit

Creates a Q initialized with values from values.

Parameters

n	[in] this value describes the length of the conficuration. This behavior is depreacted. if RW_Q_USE_NEW_CONSTRUCTOR is not defined an exception is thrown if the number of extra arguments doesn't match the value. if RW_Q_USE_NEW_CONSTRUCTOR is defined n is counted as a value unless it matches the extra number of arguments.
args	[in] the values of the configuration

Deprecated:: the use of n to describe length is deprecated.

◆ Q() [4/12]

Q	(	int	n,
		ARGS...	args
	)

inlineexplicit

Creates a Q initialized with values from values.

Parameters

n	[in] this value describes the length of the conficuration. This behavior is depreacted. if RW_Q_USE_NEW_CONSTRUCTOR is not defined an exception is thrown if the number of extra arguments doesn't match the value. if RW_Q_USE_NEW_CONSTRUCTOR is defined n is counted as a value unless it matches the extra number of arguments.
args	[in] the values of the configuration

Deprecated:: the use of n to describe length is deprecated.

◆ Q() [5/12]

Q	(	double	arg0,
		ARGS...	args
	)

inlineexplicit

Creates a Q initialized with values from values.

Parameters

arg0	[in] first value
args	[in] the values of the configuration

◆ Q() [6/12]

Q ( const Base & q )

inline

Construct from Eigen base.

Parameters

q	[in] Eigen base.

◆ Q() [7/12]

Q	(	size_t	n,
		double *	values
	)

Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds.

Parameters

n	[in] Length of q.
values	[in] Values to initialize with

◆ Q() [8/12]

Q	(	size_t	n,
		const double *	values
	)

Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds.

Parameters

n	[in] Length of q.
values	[in] Values to initialize with

◆ Q() [9/12]

Q	(	int	n,
		double *	values
	)

Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds.

Parameters

n	[in] Length of q.
values	[in] Values to initialize with

◆ Q() [10/12]

Q	(	int	n,
		const double *	values
	)

Creates a Q of length n and initialized with values from values The method reads n values from values and do not check whether reading out of bounds.

Parameters

n	[in] Length of q.
values	[in] Values to initialize with

◆ Q() [11/12]

Q	(	int	n,
		double	values
	)

Creates a Q of length n and initialize all values in Q to value.

Parameters

n	[in] Length of q.
values	[in] Value to initialize

◆ Q() [12/12]

Q	(	size_t	n,
		double	values
	)

Creates a Q of length n and initialize all values in Q to value.

Parameters

n	[in] Length of q.
values	[in] Value to initialize

Member Function Documentation

◆ getSubPart()

const Q getSubPart	(	size_t	start,
		size_t	cnt
	)		const

inline

Extracts a sub part (range) of this Q.

Parameters

start	[in] Start index
cnt	[in] the number of elements to include

Returns

◆ norm1()

double norm1 ( ) const

inline

Returns the Manhatten norm (1-norm) of the configuration.

Returns: the norm

◆ norm2()

double norm2 ( ) const

inline

Returns the Euclidean norm (2-norm) of the configuration.

Returns: the norm

◆ normInf()

double normInf ( ) const

inline

Returns the infinte norm ( \(\inf\)-norm) of the configuration.

Returns: the norm

◆ operator()() [1/2]

double& operator() ( size_t i )

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector

Returns: reference to element

◆ operator()() [2/2]

const double& operator() ( size_t i ) const

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector

Returns: const reference to element

◆ operator<()

bool operator< ( const Q & q ) const

inline

Compares whether this is less than q.

The less operator is defined such that the first index is the most significant. That is if (*this)[0] < q[0] then true is returned. If (*this)[0] > q[0] false is returned and only if (*this)[0] == q[0] is the next index considered.

◆ operator==()

bool operator== ( const Q & q2 ) const

Compares this and q2 for equality.

this and q2 are considered equal if and only if they have equal length and if q1(i) == q2(i) for all i.

Parameters

q2 [in]

Returns: True if this equals q2, false otherwise.

◆ operator[]() [1/2]

double& operator[] ( size_t i )

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector

Returns: reference to element

◆ operator[]() [2/2]

const double& operator[] ( size_t i ) const

inline

Returns reference to vector element.

Parameters

i	[in] index in the vector

Returns: const reference to element

◆ setSubPart()

void setSubPart	(	size_t	index,
		const Q &	part
	)

inline

Set subpart of vector.

Parameters

index	[in] the initial index.
part	[in] the part to insert beginning from index.

◆ toStdVector() [1/2]

std::vector<double> toStdVector ( ) const

inline

Convert to a standard vector.

Returns: the result.

◆ toStdVector() [2/2]

void toStdVector ( std::vector< double > & v ) const

inline

Convert to a standard vector.

Parameters

v	[out] the result.

Friends And Related Function Documentation

◆ load()

void load	(	Archive &	archive,
		rw::math::Q &	q,
		const unsigned int	version
	)

Parameters

archive	[in] the boost archive to read from.
q	[out] the vector to read.
version	[in] class version (currently version 0).

◆ operator>>()

std::istream & operator>>	(	std::istream &	in,
		Q &	q
	)

Parse input stream according to how operator<< streams out

Parameters

in	[in] Input stream
q	[in] Target of q read in

Returns: reference to in

◆ read()

void read	(	rw::math::Q &	sobject,
		rw::common::InputArchive &	iarchive,
		const std::string &	id
	)

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

◆ save()

void save	(	Archive &	archive,
		const rw::math::Q &	q,
		const unsigned int	version
	)

Parameters

archive	[in] the boost archive to write to.
q	[in] the vector to write.
version	[in] class version (currently version 0).

◆ serialize()

void serialize	(	Archive &	archive,
		rw::math::Q &	q,
		const unsigned int	version
	)

Parameters

archive	[in] the boost archive to read from or write to.
q	[in/out] the vector to read/write.
version	[in] class version (currently version 0).

◆ write()

void write	(	const rw::math::Q &	sobject,
		rw::common::OutputArchive &	oarchive,
		const std::string &	id
	)

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note: the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Friends

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ Q() [1/12]

◆ Q() [2/12]

◆ Q() [3/12]

◆ Q() [4/12]

◆ Q() [5/12]

◆ Q() [6/12]

◆ Q() [7/12]

◆ Q() [8/12]

◆ Q() [9/12]

◆ Q() [10/12]

◆ Q() [11/12]

◆ Q() [12/12]

Member Function Documentation

◆ getSubPart()

◆ norm1()

◆ norm2()

◆ normInf()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator<()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ setSubPart()

◆ toStdVector() [1/2]

◆ toStdVector() [2/2]

Friends And Related Function Documentation

◆ load()

◆ operator>>()

◆ read()

◆ save()

◆ serialize()

◆ write()